Fix unused parameters, signed/unsigned warnings and missing initializ…

…ation.
BsAtHome · Feb 20, 2025 · 26f1abe · 26f1abe
1 parent b4b0934
commit 26f1abe
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Showing 81 changed files with 330 additions and 189 deletions.
diff --git a/src/emc/kinematics/5axiskins.c b/src/emc/kinematics/5axiskins.c
@@ -101,6 +101,8 @@ static int fiveaxis_KinematicsForward(const double *joints,
                                       const KINEMATICS_FORWARD_FLAGS * fflags,
                                       KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     PmCartesian r = s2r(*(haldata->pivot_length) + joints[JW],
                         joints[JC],
                         180.0 - joints[JB]);
@@ -126,6 +128,8 @@ static int fiveaxis_KinematicsInverse(const EmcPose * pos,
                                       const KINEMATICS_INVERSE_FLAGS * iflags,
                                       KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
     PmCartesian r = s2r(*(haldata->pivot_length) + pos->w,
                         pos->c,
                         180.0 - pos->b);

diff --git a/src/emc/kinematics/corexykins.c b/src/emc/kinematics/corexykins.c
@@ -22,6 +22,8 @@ int kinematicsForward(const double *joints
                      ,const KINEMATICS_FORWARD_FLAGS *fflags
                      ,KINEMATICS_INVERSE_FLAGS *iflags
                      ) {
+    (void)fflags;
+    (void)iflags;
     pos->tran.x = 0.5 * (joints[0] + joints[1]);
     pos->tran.y = 0.5 * (joints[0] - joints[1]);
     pos->tran.z = joints[2];
@@ -40,6 +42,8 @@ int kinematicsInverse(const EmcPose *pos
                      ,const KINEMATICS_INVERSE_FLAGS *iflags
                      ,KINEMATICS_FORWARD_FLAGS *fflags
                      ) {
+    (void)iflags;
+    (void)fflags;
     joints[0] = pos->tran.x + pos->tran.y;
     joints[1] = pos->tran.x - pos->tran.y;
     joints[2] = pos->tran.z;

diff --git a/src/emc/kinematics/cubic.c b/src/emc/kinematics/cubic.c
@@ -88,6 +88,7 @@ static double interpolateAccel(CUBIC_COEFF coeff, double t)
 */
 static double interpolateJerk(CUBIC_COEFF coeff, double t)
 {
+    (void)t;
     return 6.0 * coeff.a;
 }
 

diff --git a/src/emc/kinematics/genhexkins.c b/src/emc/kinematics/genhexkins.c
@@ -329,6 +329,8 @@ static int genhexKinematicsForward(const double * joints,
                                    const KINEMATICS_FORWARD_FLAGS * fflags,
                                    KINEMATICS_INVERSE_FLAGS * iflags)
 {
+  (void)fflags;
+  (void)iflags;
   PmCartesian aw;
   PmCartesian InvKinStrutVect,InvKinStrutVectUnit;
   PmCartesian q_trans, RMatrix_a, RMatrix_a_cross_Strut;
@@ -345,7 +347,7 @@ static int genhexKinematicsForward(const double * joints,
 
   int iterate = 1;
   int i;
-  int iteration = 0;
+  unsigned iteration = 0;
 
   genhex_read_hal_pins();
 
@@ -491,6 +493,8 @@ static int genhexKinematicsInverse(const EmcPose * pos,
                                    const KINEMATICS_INVERSE_FLAGS * iflags,
                                    KINEMATICS_FORWARD_FLAGS * fflags)
 {
+  (void)iflags;
+  (void)fflags;
 
   PmCartesian aw, temp;
   PmCartesian InvKinStrutVect, InvKinStrutVectUnit;
@@ -541,6 +545,7 @@ int genhexKinematicsSetup(const  int   comp_id,
                           const  char* coordinates,
                           kparms*      kp)
 {
+    (void)coordinates;
     int i,res=0;
 
     haldata = hal_malloc(sizeof(struct haldata));

diff --git a/src/emc/kinematics/kinematics.h b/src/emc/kinematics/kinematics.h
@@ -165,7 +165,7 @@ extern int kinematicsSwitch(int switchkins_type);
 
 #define KINS_NOT_SWITCHABLE \
 extern int kinematicsSwitchable() {return 0;} \
-extern int kinematicsSwitch(int switchkins_type) {return 0;} \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0;} \
 EXPORT_SYMBOL(kinematicsSwitchable); \
 EXPORT_SYMBOL(kinematicsSwitch);
 

diff --git a/src/emc/kinematics/kins_util.c b/src/emc/kinematics/kins_util.c
@@ -283,6 +283,7 @@ int identityKinematicsSetup(const int   comp_id,
                             const char* coordinates,
                             kparms*     kp)
 {
+    (void)comp_id;
     int axis_idx_for_jno[EMCMOT_MAX_JOINTS];
     int jno;
     int show=0;
@@ -330,6 +331,8 @@ int identityKinematicsForward(const double *joints,
                               const KINEMATICS_FORWARD_FLAGS * fflags,
                               KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     if (!identity_kinematics_initialized) {
         rtapi_print_msg(RTAPI_MSG_ERR,
             "identityKinematicsForward: not initialized\n");
@@ -346,6 +349,8 @@ int identityKinematicsInverse(const EmcPose * pos,
                               const KINEMATICS_INVERSE_FLAGS * iflags,
                               KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
     if (!identity_kinematics_initialized) {
         rtapi_print_msg(RTAPI_MSG_ERR,
             "identityKinematicsInverse: not initialized\n");

diff --git a/src/emc/kinematics/lineardeltakins.c b/src/emc/kinematics/lineardeltakins.c
@@ -32,13 +32,17 @@ int kinematicsForward(const double * joints,
                       EmcPose * pos,
                       const KINEMATICS_FORWARD_FLAGS * fflags,
                       KINEMATICS_INVERSE_FLAGS * iflags) {
+    (void)fflags;
+    (void)iflags;
     set_geometry(*haldata->r, *haldata->l);
     return kinematics_forward(joints, pos);
 }
 
 int kinematicsInverse(const EmcPose *pos, double *joints,
         const KINEMATICS_INVERSE_FLAGS *iflags,
         KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)iflags;
+    (void)fflags;
     set_geometry(*haldata->r, *haldata->l);
     return kinematics_inverse(pos, joints);
 }

diff --git a/src/emc/kinematics/maxkins.c b/src/emc/kinematics/maxkins.c
@@ -39,6 +39,8 @@ int kinematicsForward(const double *joints,
 		      const KINEMATICS_FORWARD_FLAGS * fflags,
 		      KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     // B correction
     double zb = (*(haldata->pivot_length) + joints[8]) * cos(d2r(joints[4]));
     double xb = (*(haldata->pivot_length) + joints[8]) * sin(d2r(joints[4]));
@@ -72,6 +74,8 @@ int kinematicsInverse(const EmcPose * pos,
 		      const KINEMATICS_INVERSE_FLAGS * iflags,
 		      KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
     // B correction
     double zb = (*(haldata->pivot_length) + pos->w) * cos(d2r(pos->b));
     double xb = (*(haldata->pivot_length) + pos->w) * sin(d2r(pos->b));

diff --git a/src/emc/kinematics/pentakins.c b/src/emc/kinematics/pentakins.c
@@ -242,6 +242,8 @@ int kinematicsForward(const double * joints,
                       const KINEMATICS_FORWARD_FLAGS * fflags,
                       KINEMATICS_INVERSE_FLAGS * iflags)
 {
+  (void)fflags;
+  (void)iflags;
 
 //  PmCartesian aw;
 //  PmCartesian InvKinStrutVect,InvKinStrutVectUnit;
@@ -260,7 +262,7 @@ int kinematicsForward(const double * joints,
 
   int iterate = 1;
   int i, j;
-  int iteration = 0;
+  unsigned iteration = 0;
 
   pentakins_read_hal_pins();
 
@@ -372,6 +374,8 @@ int kinematicsInverse(const EmcPose * pos,
                       const KINEMATICS_INVERSE_FLAGS * iflags,
                       KINEMATICS_FORWARD_FLAGS * fflags)
 {
+  (void)iflags;
+  (void)fflags;
 
   double coord[NUM_STRUTS];
 

diff --git a/src/emc/kinematics/pumakins.c b/src/emc/kinematics/pumakins.c
@@ -40,6 +40,7 @@ static int pumaKinematicsForward(const double * joint,
                                  const KINEMATICS_FORWARD_FLAGS * fflags,
                                  KINEMATICS_INVERSE_FLAGS * iflags)
 {
+   (void)fflags;
    double s1, s2, s3, s4, s5, s6;
    double c1, c2, c3, c4, c5, c6;
    double s23;
@@ -328,6 +329,7 @@ int pumaKinematicsSetup(const  int   comp_id,
                         const  char* coordinates,
                         kparms*      kp)
 {
+    (void)coordinates;
     int res=0;
 
     haldata = hal_malloc(sizeof(*haldata));

diff --git a/src/emc/kinematics/rosekins.c b/src/emc/kinematics/rosekins.c
@@ -44,6 +44,8 @@ int kinematicsForward(const double *joints,
                       const KINEMATICS_FORWARD_FLAGS * fflags,
                       KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     double radius,z,theta;
 
     radius = joints[0];
@@ -68,6 +70,8 @@ int kinematicsInverse(const EmcPose * pos,
                       const KINEMATICS_INVERSE_FLAGS * iflags,
                       KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
 // There is a potential problem when accumulating bigtheta -- loss of
 // precision based on size of mantissa -- but in practice, it is probably ok
 

diff --git a/src/emc/kinematics/rotarydeltakins.c b/src/emc/kinematics/rotarydeltakins.c
@@ -36,13 +36,17 @@ int kinematicsForward(const double * joints,
                       EmcPose * pos,
                       const KINEMATICS_FORWARD_FLAGS * fflags,
                       KINEMATICS_INVERSE_FLAGS * iflags) {
+    (void)fflags;
+    (void)iflags;
     set_geometry(*haldata->pfr, *haldata->tl, *haldata->sl, *haldata->fr);
     return kinematics_forward(joints, pos);
 }
 
 int kinematicsInverse(const EmcPose *pos, double *joints,
         const KINEMATICS_INVERSE_FLAGS *iflags,
         KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)iflags;
+    (void)fflags;
     set_geometry(*haldata->pfr, *haldata->tl, *haldata->sl, *haldata->fr);
     return kinematics_inverse(pos, joints);
 }

diff --git a/src/emc/kinematics/rotatekins.c b/src/emc/kinematics/rotatekins.c
@@ -20,6 +20,8 @@ int kinematicsForward(const double *joints,
 		      const KINEMATICS_FORWARD_FLAGS * fflags,
 		      KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     double c_rad = -joints[5]*M_PI/180;
     pos->tran.x = joints[0] * cos(c_rad) - joints[1] * sin(c_rad);
     pos->tran.y = joints[0] * sin(c_rad) + joints[1] * cos(c_rad);
@@ -39,6 +41,8 @@ int kinematicsInverse(const EmcPose * pos,
 		      const KINEMATICS_INVERSE_FLAGS * iflags,
 		      KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
     double c_rad = pos->c*M_PI/180;
     joints[0] = pos->tran.x * cos(c_rad) - pos->tran.y * sin(c_rad);
     joints[1] = pos->tran.x * sin(c_rad) + pos->tran.y * cos(c_rad);

diff --git a/src/emc/kinematics/scarakins.c b/src/emc/kinematics/scarakins.c
@@ -77,6 +77,7 @@ int scaraKinematicsForward(const double * joint,
                       const KINEMATICS_FORWARD_FLAGS * fflags,
                       KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
     double a0, a1, a3;
     double x, y, z, c;
 
@@ -181,6 +182,7 @@ static int scaraKinematicsSetup(const  int   comp_id,
                                 const  char* coordinates,
                                 kparms*      kp)
 {
+    (void)coordinates;
     int res=0;
 
     haldata = hal_malloc(sizeof(*haldata));

diff --git a/src/emc/kinematics/scorbot-kins.c b/src/emc/kinematics/scorbot-kins.c
@@ -79,6 +79,8 @@ int kinematicsForward(
     const KINEMATICS_FORWARD_FLAGS *fflags,
     KINEMATICS_INVERSE_FLAGS *iflags
 ) {
+    (void)fflags;
+    (void)iflags;
     EmcPose j1_vector;  // the vector from j0 ("base") to joint 1 ("shoulder", end of link 0)
     EmcPose j2_vector;  // the vector from j1 ("shoulder") to  joint 2 ("elbow", end of link 1)
     EmcPose j3_vector;  // the vector from j2 ("elbow") to joint 3 ("wrist", end of link 2)
@@ -136,6 +138,8 @@ int kinematicsInverse(
     const KINEMATICS_INVERSE_FLAGS *iflags,
     KINEMATICS_FORWARD_FLAGS *fflags
 ) {
+    (void)iflags;
+    (void)fflags;
     // EmcPose j1_cart;
     double distance_to_cp, distance_to_center;
     double r_j1, z_j1;   // (r_j1, z_j1) is the location of J1 in the RZ plane

diff --git a/src/emc/kinematics/tripodkins.c b/src/emc/kinematics/tripodkins.c
@@ -128,6 +128,7 @@ int kinematicsForward(const double * joints,
                       const KINEMATICS_FORWARD_FLAGS * fflags,
                       KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)iflags;
 #define AD (joints[0])
 #define BD (joints[1])
 #define CD (joints[2])
@@ -184,6 +185,7 @@ int kinematicsInverse(const EmcPose * pos,
                       const KINEMATICS_INVERSE_FLAGS * iflags,
                       KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
 #define AD (joints[0])
 #define BD (joints[1])
 #define CD (joints[2])

diff --git a/src/emc/kinematics/trtfuncs.c b/src/emc/kinematics/trtfuncs.c
@@ -153,6 +153,8 @@ int xyzacKinematicsForward(const double *joints,
                            const KINEMATICS_FORWARD_FLAGS * fflags,
                            KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     double x_rot_point = *(haldata->x_rot_point);
     double y_rot_point = *(haldata->y_rot_point);
     double z_rot_point = *(haldata->z_rot_point);
@@ -199,6 +201,8 @@ int xyzacKinematicsInverse(const EmcPose * pos,
                            const KINEMATICS_INVERSE_FLAGS * iflags,
                            KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
     double x_rot_point = *(haldata->x_rot_point);
     double y_rot_point = *(haldata->y_rot_point);
     double z_rot_point = *(haldata->z_rot_point);
@@ -257,6 +261,8 @@ int xyzbcKinematicsForward(const double *joints,
                            const KINEMATICS_FORWARD_FLAGS * fflags,
                            KINEMATICS_INVERSE_FLAGS * iflags)
 {
+    (void)fflags;
+    (void)iflags;
     // Note: 'principal' joints are used
     double x_rot_point = *(haldata->x_rot_point);
     double y_rot_point = *(haldata->y_rot_point);
@@ -303,6 +309,8 @@ int xyzbcKinematicsInverse(const EmcPose * pos,
                            const KINEMATICS_INVERSE_FLAGS * iflags,
                            KINEMATICS_FORWARD_FLAGS * fflags)
 {
+    (void)iflags;
+    (void)fflags;
     double x_rot_point = *(haldata->x_rot_point);
     double y_rot_point = *(haldata->y_rot_point);
     double z_rot_point = *(haldata->z_rot_point);

diff --git a/src/emc/motion/command.c b/src/emc/motion/command.c
@@ -386,6 +386,7 @@ STATIC int is_feed_type(int motion_type)
   */
 void emcmotCommandHandler_locked(void *arg, long servo_period)
 {
+    (void)arg;
     int joint_num, spindle_num;
     int n,s0,s1;
     emcmot_joint_t *joint;

diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c
@@ -206,6 +206,7 @@ static void handle_kinematicsSwitch(void);
   */
 void emcmotController(void *arg, long period)
 {
+    (void)arg;
     static int do_once = 1;
     if (do_once) {
         pcmd_p[0] = &(emcmotStatus->carte_pos_cmd.tran.x);
@@ -236,7 +237,7 @@ void emcmotController(void *arg, long period)
     /* calculate servo period as a double - period is in integer nsec */
     servo_period = period * 0.000000001;
 
-    if(period != last_period) {
+    if(period != (long)last_period) {
         emcmotSetCycleTime(period);
         last_period = period;
     }
-Original file line number
+Diff line change
@@ Expand Up / @@ -88,6 +88,7 @@ static double interpolateAccel(CUBIC_COEFF coeff, double t) @@
     */
     static double interpolateJerk(CUBIC_COEFF coeff, double t)
     {
+        (void)t;
         return 6.0 * coeff.a;
     }
@@ Expand Down @@